Electromagnetic sensitive operation path planning method for industrial robot

Abstract

The present disclosure relates to an electromagnetic sensitive work path planning method for an industrial robot, and relates to the technical field of automation; a plurality of original path points of an original work path are determined to correspond to electromagnetic sensitivities respectively, a target path point is determined from the plurality of original path points, and a target work path is generated by using the target path point; since the electromagnetic sensitivity is used to represent the influence of electromagnetic radiation on the industrial robot receiving a control signal at the original path point, the target path point can be a relatively optimal path point considered from the electromagnetic sensitivity dimension, and the work path generated by using the relatively optimal path point can reduce the interference of electromagnetic radiation on the control signal, thereby improving the work stability of the industrial robot.

Description

Technical Field

[0001] This disclosure relates to the field of automation technology, and more specifically, to a method for planning electromagnetically sensitive work paths for industrial robots. Background Technology

[0002] With the development of automation technology, the use of industrial robots for automated operations has also evolved. In automated operation scenarios, work paths can be pre-planned for the industrial robots, enabling them to perform tasks according to these planned paths.

[0003] During the operation of an industrial robot following a planned work path, control equipment typically needs to send control signals to the robot. In automated industrial robot operation scenarios, electromagnetic radiation sources exist that can interfere with the control signals, causing the robot to fail to respond promptly or respond incorrectly, thus affecting the robot's operational stability. Summary of the Invention

[0004] The purpose of this disclosure is to provide an electromagnetically sensitive operation path planning method for industrial robots. This method optimizes the operation path of industrial robots based on electromagnetic sensitivity, reduces the interference of electromagnetic radiation sources on control signals, and thus improves the operational stability of industrial robots.

[0005] To achieve the above objectives, this disclosure provides a method for planning electromagnetically sensitive work paths for industrial robots, comprising: obtaining an original work path of the industrial robot, the original work path including multiple original path points; determining the electromagnetic susceptibility corresponding to each of the multiple original path points, the electromagnetic susceptibility being used to characterize the influence of electromagnetic radiation on the industrial robot's reception of control signals at the original path points; determining a target path point from the multiple original path points based on the electromagnetic susceptibility corresponding to each of the multiple original path points; and generating a target work path based on the target path point, the original work path, and a preset path generation algorithm.

[0006] Optionally, determining the electromagnetic susceptibility corresponding to each of the plurality of original path points includes: determining a first electromagnetic susceptibility corresponding to each of the plurality of original path points, wherein the first electromagnetic susceptibility characterizes the influence of electromagnetic radiation on the industrial robot receiving control signals uniformly issued by the control device at the original path point; determining a second electromagnetic susceptibility corresponding to each of the plurality of original path points, wherein the second electromagnetic susceptibility characterizes the influence of electromagnetic radiation on the industrial robot receiving control signals sent by adjacent industrial robots at the original path point; and determining the electromagnetic susceptibility corresponding to each of the plurality of original path points based on the first electromagnetic susceptibility and the second electromagnetic susceptibility.

[0007] Optionally, determining the first electromagnetic susceptibility corresponding to each of the plurality of original path points includes: controlling an industrial robot to perform operations according to the original work path; during the operation of the industrial robot according to the original work path, continuously sending control signals for testing to the industrial robot through a control device, and generating a control signal sending record, the control signal sending record including the time of each control signal sending; when the industrial robot completes the operation according to the original work path, acquiring the communication log and operation data of the industrial robot, the operation data including the operation time corresponding to each of the plurality of original path points; and determining the first electromagnetic susceptibility corresponding to each of the plurality of original path points based on the communication log, the operation data, and the control signal sending record.

[0008] Optionally, determining the first electromagnetic susceptibility corresponding to each of the plurality of original path points based on the communication log of the industrial robot, the operation data of the industrial robot, and the control signal transmission record includes: determining the control signal reception time and control signal response time that match the operation time corresponding to each of the plurality of original path points from the communication log of the industrial robot; determining the control signal transmission time that matches the operation time corresponding to each of the plurality of original path points from the control signal transmission record; determining the first signal processing delay corresponding to each of the plurality of original path points based on the control signal reception time, control signal transmission time, and control signal response time that match the operation time corresponding to each of the plurality of original path points; and determining the first electromagnetic susceptibility corresponding to each of the plurality of original path points based on the first signal processing delay corresponding to each of the plurality of original path points.

[0009] Optionally, determining the second electromagnetic susceptibility corresponding to each of the plurality of original path points includes: controlling a plurality of industrial robots to move to the plurality of original path points, wherein one industrial robot moves to one or more original path points; when each industrial robot moves to its corresponding original path point, controlling each industrial robot to send a control signal for testing to its adjacent industrial robot; acquiring the communication logs corresponding to each of the plurality of industrial robots; and determining the second electromagnetic susceptibility corresponding to each of the plurality of original path points based on the communication logs and the original path points, wherein the original path point corresponding to each industrial robot is the original path point to which each industrial robot moves.

[0010] Optionally, determining the second electromagnetic susceptibility corresponding to each of the multiple original path points based on the communication logs and original path points corresponding to the multiple industrial robots includes: determining the control signal reception time, control signal transmission time, and control signal response time that match the original path points corresponding to each industrial robot from the communication logs corresponding to each industrial robot; determining the second signal processing delay corresponding to each of the multiple original path points based on the control signal reception time, control signal transmission time, and control signal response time that match the original path points corresponding to each industrial robot; and determining the second electromagnetic susceptibility corresponding to each of the multiple original path points based on the second signal processing delay corresponding to each of the multiple original path points.

[0011] Optionally, generating the target operation path based on the target path point, the original operation path, and a preset path generation algorithm includes: determining the path features corresponding to the original operation path; generating an initial operation path based on the target path point and the preset path generation algorithm; determining the path features corresponding to the initial operation path; iteratively optimizing the path features corresponding to the initial operation path and the path features corresponding to the original operation path until a termination condition is met to obtain an optimal operation path; and determining the target operation path based on the optimal operation path.

[0012] Optionally, the step of iteratively optimizing the path based on the path features corresponding to the initial task path, the path features corresponding to the original task path, and the target path point until the termination condition is met to obtain the optimal task path includes: determining an evaluation function value based on the path features corresponding to the initial task path and the path features corresponding to the original task path; generating a new task path based on the evaluation function value, the target path point, and the preset path generation algorithm; determining the path features corresponding to the new task path; and continuing iterative optimization based on the path features corresponding to the new task path, the path features corresponding to the original task path, and the path features corresponding to the initial task path until the termination condition is met to obtain the optimal task path.

[0013] Optionally, the industrial robot electromagnetically sensitive operation path planning method further includes: controlling one or more industrial robots to operate according to the target operation path; during the operation of one or more industrial robots according to the target operation path, in response to the detection of a new electromagnetic radiation source, acquiring the real-time position of one or more industrial robots; determining a local operation path from the target operation path based on the real-time position of one or more industrial robots; optimizing the local operation path to obtain an optimized operation path; controlling one or more industrial robots according to the optimized operation path, and adjusting the control signal transmission strategy in the control device corresponding to the local operation path.

[0014] Optionally, the industrial robot electromagnetically sensitive operation path planning method further includes: controlling one or more industrial robots to perform operations according to the target operation path; in response to the completion of operations by one or more industrial robots, acquiring communication logs corresponding to one or more industrial robots, the communication logs including: control signal reception time and control signal response time; determining the actual signal processing delay corresponding to one or more industrial robots based on the communication logs corresponding to one or more industrial robots; and optimizing the communication protocol between the control device and one or more industrial robots based at least on the actual signal processing delay corresponding to one or more industrial robots.

[0015] By using the above technical solution, the electromagnetic susceptibility corresponding to multiple original path points of the original operation path is determined, and the target path point is determined from the multiple original path points. The target operation path is then generated using the target path point. Since electromagnetic susceptibility is used to characterize the influence of electromagnetic radiation on the industrial robot's reception of control signals at the original path points, the target path point can be a better path point considered from the perspective of electromagnetic susceptibility. The operation path generated using this better path point can reduce the interference of electromagnetic radiation on the control signal, thereby improving the operational stability of the industrial robot.

[0016] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0018] Figure 1 This is a schematic diagram illustrating an application scenario according to an exemplary embodiment.

[0019] Figure 2This is a flowchart illustrating an electromagnetically sensitive operation path planning method for an industrial robot according to an exemplary embodiment.

[0020] Figure 3 This is a schematic diagram illustrating a first test scenario according to an exemplary embodiment.

[0021] Figure 4A and Figure 4B This is a schematic diagram illustrating a second test scenario according to an exemplary embodiment.

[0022] Figure 5 This is a block diagram illustrating an electromagnetically sensitive work path planning device for an industrial robot according to an exemplary embodiment.

[0023] Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0024] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0025] As mentioned in the background section, in the automated operation scenarios of industrial robots, there are electromagnetic radiation sources. These sources may interfere with control signals, causing the industrial robot to fail to respond to control signals in a timely manner or to respond incorrectly, thereby affecting the operational stability of the industrial robot.

[0026] Therefore, when planning the working path of an industrial robot, electromagnetic sensitivity needs to be considered to reduce the interference of electromagnetic radiation sources on the control signal, thereby ensuring the operational stability of the industrial robot.

[0027] In related technologies, the operation path planning of industrial robots usually only considers path length and path complexity, without taking into account the impact of electromagnetic sensitivity on control signals.

[0028] Therefore, this disclosure provides a technical solution that determines a target path point from multiple original path points by determining the electromagnetic susceptibility of each original path point in the original operation path, and generates a target operation path using the target path point. Since electromagnetic susceptibility is used to characterize the influence of electromagnetic radiation on the industrial robot's reception of control signals at the original path points, the target path point can be a better path point considered from the perspective of electromagnetic susceptibility. The operation path generated using this better path point can reduce the interference of electromagnetic radiation on the control signal, thereby improving the operational stability of the industrial robot.

[0029] Figure 1 This is a schematic diagram illustrating an application scenario according to an exemplary embodiment, such as... Figure 1 As shown, this application scenario includes: industrial robots and control equipment, wherein the number of industrial robots can be one or more. Figure 1 (Multiple are shown in the image).

[0030] In some embodiments, a communication connection can be established between the industrial robot and the control device, and the control device can send control signals to the industrial robot. These control signals may be affected by electromagnetic radiation in the working environment of the industrial robot.

[0031] In some embodiments, industrial robots can establish communication connections and transmit signals to each other, which may also be affected by electromagnetic radiation in the working environment.

[0032] In some embodiments, communication connections between industrial robots and control devices, as well as between industrial robots themselves, can be established via a local area network or other communication connection methods, which are not limited herein.

[0033] In some embodiments, the control device may be a host computer; the industrial robot may be a robot with mobility functions, such as an automated guided vehicle.

[0034] Figure 2 This is a flowchart illustrating an electromagnetically sensitive operation path planning method for an industrial robot according to an exemplary embodiment. This method can be applied to… Figure 1 Control devices in, such as Figure 2 As shown, the method includes the following steps:

[0035] Step S21: Obtain the original working path of the industrial robot. The original working path includes multiple original path points.

[0036] Step S22: Determine the electromagnetic susceptibility corresponding to multiple original path points. The electromagnetic susceptibility is used to characterize the influence of electromagnetic radiation on the industrial robot's reception of control signals at the original path points.

[0037] Step S23: Determine the target path point from the multiple original path points based on their respective electromagnetic susceptibility.

[0038] Step S24: Generate the target job path based on the target waypoint, the original job path, and the preset path generation algorithm.

[0039] In step S21, the original working path of the industrial robot can be a working path formulated without considering the influence of electromagnetic radiation. This original working path includes multiple original path points. For any original path point, it may be a stop point of the industrial robot, a working point, or simply a working path point.

[0040] The configuration method for the original job path can be determined using some mature path planning algorithms in this field, and no specific method is specified here.

[0041] In step S22, the electromagnetic susceptibility needs to be determined for each original path point. This electromagnetic susceptibility characterizes the impact of electromagnetic radiation on the industrial robot's reception of control signals at the original path point. A higher electromagnetic susceptibility indicates a greater impact of electromagnetic radiation on the industrial robot's reception of control signals at the original path point.

[0042] In this embodiment, electromagnetic susceptibility can be determined by testing the actual operation of the industrial robot according to its original work path. Furthermore, the test can be conducted by considering both the control signals received by the industrial robot from the control device and the control signals received by the industrial robot from other industrial robots.

[0043] Therefore, as an optional implementation, step S22 includes: determining a first electromagnetic susceptibility corresponding to a plurality of original path points, wherein the first electromagnetic susceptibility is used to characterize the influence of electromagnetic radiation on the industrial robot receiving control signals uniformly issued by the control device at the original path points; determining a second electromagnetic susceptibility corresponding to a plurality of original path points, wherein the second electromagnetic susceptibility is used to characterize the influence of electromagnetic radiation on the industrial robot receiving control signals sent by adjacent industrial robots at the original path points; and determining the electromagnetic susceptibility corresponding to a plurality of original path points based on the first electromagnetic susceptibility and the second electromagnetic susceptibility.

[0044] In this implementation, the first electromagnetic susceptibility characterizes the impact of electromagnetic radiation on the industrial robot's reception of control signals uniformly issued by the control equipment at its original path point, while the second electromagnetic susceptibility characterizes the impact of electromagnetic radiation on the industrial robot's reception of control signals sent by adjacent industrial robots at its original path point. It is understood that the impact of electromagnetic radiation, if the distance is too great, may require consideration of other factors; therefore, it is sufficient to consider the impact on control signals sent by adjacent industrial robots.

[0045] In some embodiments, weights corresponding to the first electromagnetic susceptibility and the second electromagnetic susceptibility can be configured respectively, and the final electromagnetic susceptibility can be obtained by weighted summation of the first electromagnetic susceptibility and the second electromagnetic susceptibility.

[0046] In some embodiments, the weights corresponding to the first and second electromagnetic susceptibility can be configured based on the interaction frequency between industrial robots and the interaction frequency between industrial robots and control devices during actual operation. If the interaction frequency between industrial robots is high, the weight corresponding to the second electromagnetic susceptibility is high; if the interaction frequency between industrial robots and control devices is high, the weight corresponding to the first electromagnetic susceptibility is high. If the interaction frequency between industrial robots and the interaction frequency between industrial robots and control devices are similar, the weights corresponding to the first and second electromagnetic susceptibility are also similar.

[0047] In some embodiments, the sum of the weights corresponding to the first electromagnetic susceptibility and the second electromagnetic susceptibility can be 1.

[0048] In some embodiments, determining the first electromagnetic susceptibility corresponding to multiple original path points includes: controlling an industrial robot to perform operations according to an original work path; during the operation of an industrial robot according to the original work path, continuously sending control signals for testing to an industrial robot through a control device, and generating a control signal sending record, the control signal sending record including the time of each control signal sending; when an industrial robot completes the operation according to the original work path, acquiring the communication log and operation data of an industrial robot, the operation data including the operation time corresponding to multiple original path points; and determining the first electromagnetic susceptibility corresponding to multiple original path points based on the communication log, operation data, and control signal sending record of an industrial robot.

[0049] In this implementation, it is necessary to match the control signals received by the industrial robot at each original path point with the control signals issued by the control equipment in order to analyze the electromagnetic susceptibility of each original path point.

[0050] Because the control equipment and the industrial robot are time-synchronized (which can be achieved in advance through a time synchronization protocol), by using the constraint of the same time, the control signals received by the industrial robot at each original path point can be matched with the control signals issued by the control equipment.

[0051] Therefore, control equipment needs to generate control signal transmission logs to record the time of each control signal transmission. Similarly, for an industrial robot, the corresponding time can be recorded through communication logs and operational data.

[0052] In some embodiments, the operation time corresponding to each of the multiple original path points can characterize the time the industrial robot spends at each original path point.

[0053] In some embodiments, the communication log may record the control signal reception time and the control signal response time, wherein the control signal response time is the time of sending the response signal.

[0054] Figure 3 This is a schematic diagram illustrating a first test scenario according to an exemplary embodiment, such as... Figure 3 As shown, in this test scenario, the industrial robot operates according to its original work path. During this process, the control device continuously sends control signals, and the industrial robot responds to the received control signals while operating along the original work path. However, due to the potential influence of electromagnetic radiation, there may be a time delay in the reception and response of the control signals. By analyzing this time delay, the electromagnetic susceptibility can be determined.

[0055] As an optional implementation, determining the first electromagnetic susceptibility corresponding to multiple original path points based on the communication log, operation data, and control signal transmission records of an industrial robot includes: determining the control signal reception time and control signal response time that match the operation time corresponding to the multiple original path points from the communication log of the industrial robot; determining the control signal transmission time that matches the operation time corresponding to the multiple original path points from the control signal transmission records; determining the first signal processing delay corresponding to the multiple original path points based on the control signal reception time, control signal transmission time, and control signal response time that match the operation time corresponding to the multiple original path points; and determining the first electromagnetic susceptibility corresponding to the multiple original path points based on the first signal processing delay corresponding to the multiple original path points.

[0056] In some embodiments, for any original path point, if the operation time corresponding to the original path point is a specific time point (e.g., XX hour XX minute XX second), then the original path point is considered a transit point. In this case, the receiving times of each control signal are compared with the specific time point. If there is a matching control signal receiving time, then the matching control signal receiving time and the corresponding control signal response time match the operation time corresponding to the original path point. In other cases, they are considered mismatched.

[0057] Furthermore, if the issuance time of a control signal in the control signal issuance record is the same as the operation time corresponding to the original path point, then the issuance time of that control signal matches the operation time corresponding to that original path point. In other cases, it is considered a mismatch.

[0058] If the operation time corresponding to the original path point is within a time range (e.g., XX hours XX minutes X1 seconds to XX hours XX minutes X2 seconds), then the original path point is considered an operation point or a stop point. In this case, the receiving time and response time of each control signal are compared. If the receiving time and response time of a control signal both fall within this time range, then the receiving time and response time of that control signal match the operation time of the original path point. Alternatively, if the receiving time of a control signal falls within this time range, but the response time does not, then the receiving time and response time of that control signal match the operation time of the original path point. In other cases, a mismatch is considered.

[0059] Furthermore, if the issuance time of a control signal in the control signal issuance record falls within the time range constrained by the operation time corresponding to the original path point, then the issuance time of that control signal matches the operation time corresponding to that original path point. In other cases, it is considered a mismatch.

[0060] Furthermore, based on the control signal reception time, control signal issuance time, and control signal response time that match the operation times corresponding to the multiple original path points, the first signal processing delay corresponding to each of the multiple original path points is determined.

[0061] For any original path point, the first signal processing delay corresponding to that original path point can be: |control signal transmission time - control signal reception time| + |control signal reception time - control signal response time|.

[0062] Furthermore, the normal signal processing delay under the influence of no electromagnetic radiation can be pre-configured. Then, the first electromagnetic susceptibility can be: (first signal processing delay - normal signal processing delay) / normal signal processing delay.

[0063] In some embodiments, determining the second electromagnetic susceptibility corresponding to a plurality of original path points includes: controlling a plurality of industrial robots to move to a plurality of original path points, wherein one industrial robot moves to one or more original path points; when each industrial robot moves to its corresponding original path point, controlling each industrial robot to send a control signal for testing to its adjacent industrial robot; acquiring communication logs corresponding to the plurality of industrial robots; and determining the second electromagnetic susceptibility corresponding to the plurality of original path points based on the communication logs and the original path points, wherein the original path point corresponding to each industrial robot is the original path point to which the industrial robot moves.

[0064] In this implementation, each industrial robot is configured at a corresponding original path point, and then these industrial robots send control signals to each other. By testing the communication logs between the industrial robots, the second electromagnetic susceptibility corresponding to each original path point is determined to characterize the electromagnetic radiation impact experienced when the industrial robots transmit control signals to each other.

[0065] In some embodiments, the communication log may record the control signal transmission time, control signal reception time, and control signal response time (sent to external parties).

[0066] Figure 4A and Figure 4B This is a schematic diagram illustrating a second test scenario according to an exemplary embodiment, such as... Figure 4A and Figure 4B As shown, in this test scenario, there are two situations: one is that the number of industrial robots is greater than or equal to the number of original path points, and the other is that the number of industrial robots is less than the number of original path points.

[0067] like Figure 4A As shown, when the number of industrial robots is greater than or equal to the number of original path points, each industrial robot can be directly controlled to move to its corresponding original path point, with one original path point corresponding to one industrial robot.

[0068] like Figure 4B As shown, when the number of industrial robots is less than the number of original path points, some of the industrial robots can be controlled to first move to one original path point, send a control signal, and then move to the next original path point to continue sending control signals. In this case, the positions of the industrial robots are not fixed.

[0069] In this scenario, only some of the industrial robots need to move to multiple original waypoints, and for each original waypoint, only one industrial robot needs to send a control signal.

[0070] Regardless of the implementation method used, since each control signal has a unique identifier, the response time, transmission time, and reception time corresponding to the control signal can be located using this unique identifier. Furthermore, each industrial robot can record its location, and by comparing the recorded location with the locations of each original path point, the original path point corresponding to each industrial robot can be determined.

[0071] Furthermore, determining the second electromagnetic susceptibility corresponding to each of the multiple original path points based on the communication logs and original path points corresponding to the multiple industrial robots may include: determining the control signal reception time, control signal transmission time, and control signal response time that match the original path points corresponding to each industrial robot from the communication logs of each industrial robot; determining the second signal processing delay corresponding to each of the multiple original path points based on the control signal reception time, control signal transmission time, and control signal response time that match the original path points corresponding to each industrial robot; and determining the second electromagnetic susceptibility corresponding to each of the multiple original path points based on the second signal processing delay corresponding to each of the multiple original path points.

[0072] In some embodiments, based on the correspondence between the industrial robot and the original path point, the control signal reception time, control signal transmission time and control signal response time included in the communication log of the industrial robot corresponding to the original path point are the control signal reception time, control signal transmission time and control signal response time that match the original path point.

[0073] In some embodiments, for any industrial robot, at a certain original path point, it may first send a control signal to the adjacent industrial robot and then receive a control signal sent from the adjacent industrial robot, or it may first receive a control signal sent from the adjacent industrial robot and then send a control signal to the adjacent industrial robot. Therefore, the time interval between the control signal response time and the control signal transmission time can also be regarded as part of the time delay.

[0074] Therefore, the second signal processing delay can be: min(|control signal transmission time - control signal reception time|, |control signal response time - control signal reception time|).

[0075] Furthermore, the second signal processing delay can be converted into a second electromagnetic susceptibility.

[0076] In some embodiments, the second electromagnetic susceptibility can be: (second signal processing delay - normal signal processing delay) / normal signal processing delay. The implementation of the normal signal processing delay is the same as described in the foregoing embodiments.

[0077] Furthermore, in step S23, the original path points with electromagnetic susceptibility less than a preset electromagnetic susceptibility can be determined as target path points. The preset electromagnetic susceptibility represents a lower level of electromagnetic radiation influence and can be determined based on actual measurements.

[0078] Alternatively, multiple original path points can be arranged in ascending order of electromagnetic susceptibility, and the original path point ranked highest can be determined as the target path point.

[0079] Furthermore, in step S24, the job path can be regenerated based on the selected target path points. However, in this process, the offset relative to the original path points needs to be considered to avoid generating an unreasonable target job path. Therefore, the target job path can be generated by combining the target path points, the original job path, and a preset path generation algorithm.

[0080] In some embodiments, the preset path generation algorithm may be a mature path generation algorithm in the field, such as a fast random tree or a probabilistic route map, and is not limited thereto.

[0081] In some embodiments, the target job path can be generated through iterative optimization.

[0082] Therefore, as an optional implementation, step S24 includes: determining the path features corresponding to the original operation path; generating an initial operation path based on the target path point and a preset path generation algorithm; determining the path features corresponding to the initial operation path; iteratively optimizing the path features corresponding to the initial operation path and the path features corresponding to the original operation path until the termination condition is met, thereby obtaining the optimal operation path; and determining the target operation path based on the optimal operation path.

[0083] In some embodiments, path features may include geometric features, such as the shape of the path, like an S-shaped line, an arc, a spiral, or a circular line; and may also include the length of the path, the complexity of the path, etc.

[0084] In some embodiments, the optimal operation path is obtained by iteratively optimizing based on the path features corresponding to the initial operation path, the path features corresponding to the original operation path, and the target path point until the termination condition is met. This includes: determining an evaluation function value based on the path features corresponding to the initial operation path and the path features corresponding to the original operation path; generating a new operation path based on the evaluation function value and the initial operation path; determining the path features corresponding to the new operation path; and continuing iterative optimization based on the path features corresponding to the new operation path, the path features corresponding to the original operation path, and the path features corresponding to the initial operation path until the termination condition is met, thereby obtaining the optimal operation path.

[0085] It is understandable that the initial job path can be evaluated by calculating the evaluation function value.

[0086] In some embodiments, the evaluation function can be: M = CosSim(i, j), where i represents the path feature corresponding to the initial job path, j represents the path feature corresponding to the original job path, and CosSim represents the cosine similarity. When there are multiple path features, the cosine similarity is determined for each feature separately, and then summed.

[0087] In some embodiments, if the evaluation function value is within the preset evaluation function value range, a new job path can be generated based on the target path point and according to the preset path generation algorithm.

[0088] In some embodiments, if the evaluation function value is not within the range of the preset evaluation function value, the iteration ends.

[0089] In some embodiments, the evaluation function corresponding to the path features of the new job path can be: M = A × CosSim(i, j) + B × CosSim(i, i-1), where A and B represent different weights and are preset values. i represents the path features corresponding to the new job path, j represents the path features corresponding to the original job path, and i-1 represents the path features of the path generated before the new job path.

[0090] That is, the similarity of path features considered in the evaluation function differs for the first iteration and non-first iteration. The first iteration only needs to consider the feature similarity between the original job path and the job path of the current iteration, while non-first iterations need to consider the feature similarity between the original job path and the job path of the current iteration, as well as the feature similarity between the job path of the current iteration and the job path of the previous iteration.

[0091] Furthermore, after generating the target operation path, the method further includes: controlling one or more industrial robots to operate according to the target operation path; during the operation of one or more industrial robots according to the target operation path, in response to the detection of a new electromagnetic radiation source, acquiring the real-time position of one or more industrial robots; determining a local operation path from the target operation path based on the real-time position of one or more industrial robots; optimizing the local operation path to obtain an optimized operation path; controlling one or more industrial robots according to the optimized operation path, and adjusting the control signal transmission strategy in the control device corresponding to the local operation path.

[0092] In this implementation, the detection method of the electromagnetic radiation source can refer to mature technologies in this field.

[0093] In some embodiments, based on the real-time positions of one or more industrial robots, an area can be obtained by expanding outwards, and the operation paths that overlap with this area can be identified as local operation paths.

[0094] In some embodiments, optimizing a local work path to obtain an optimized work path may include adjusting path points in the local work path that overlap with the region to edge points of the region to generate a new work path.

[0095] In some embodiments, adjusting the control signal transmission strategy corresponding to the local operation path in the control device may include: adjusting the control signal transmission frequency, the amount of data included in the control signal, etc.

[0096] In some embodiments, the method may further include: controlling one or more industrial robots to perform operations according to a target operation path; in response to the completion of the operation by one or more industrial robots, acquiring communication logs corresponding to one or more industrial robots, the communication logs including: control signal reception time and control signal response time; determining the actual signal processing delay corresponding to one or more industrial robots based on the communication logs corresponding to one or more industrial robots; and optimizing the communication protocol between the control device and one or more industrial robots based at least on the actual signal processing delay corresponding to one or more industrial robots.

[0097] In some embodiments, determining the actual signal processing delay for any industrial robot may include: determining the time interval between the reception time and response time of each control signal; and averaging the time intervals corresponding to the multiple control signals to obtain the actual signal processing delay.

[0098] In some embodiments, if the number of industrial robots with actual signal processing latency exceeding normal signal processing latency is high, then the communication protocol needs to be optimized. Optimization can be achieved by adjusting the communication protocol to one with a lower packet loss rate, simplifying the communication protocol messages, etc., and is not limited here.

[0099] In some embodiments, the communication protocol can also be optimized by combining the first signal processing delay and the second signal processing delay obtained during the aforementioned testing process. For example, if the actual signal processing delay is significantly lower than the first signal processing delay and the second signal processing delay, then there is no need to optimize the communication protocol. If the difference between the actual signal processing delay and the first signal processing delay and the second signal processing delay is not large, then the communication protocol needs to be optimized.

[0100] It is understandable that in this implementation method, if the latency is still high due to the reduced impact of electromagnetic radiation, it indicates that the communication protocol needs to be optimized. Therefore, targeted optimization of the communication protocol can be carried out to improve the stability of the industrial robot.

[0101] Figure 5 This is a block diagram illustrating an electromagnetically sensitive work path planning device 500 for an industrial robot according to an exemplary embodiment, such as... Figure 5 As shown, the device includes:

[0102] The acquisition module 501 is used to acquire the original working path of the industrial robot, wherein the original working path includes multiple original path points.

[0103] The determining module 502 is used to determine the electromagnetic susceptibility corresponding to each of the plurality of original path points. The electromagnetic susceptibility is used to characterize the influence of electromagnetic radiation on the industrial robot's reception of control signals at the original path points. Based on the electromagnetic susceptibility corresponding to each of the plurality of original path points, a target path point is determined from the plurality of original path points.

[0104] The generation module 503 is used to generate a target operation path based on the target path point, the original operation path, and a preset path generation algorithm.

[0105] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0106] Figure 6 This is a block diagram illustrating an electronic device 600 according to an exemplary embodiment. For example... Figure 6 As shown, the electronic device 600 may include a processor 601 and a memory 602. The electronic device 600 may also include one or more of a multimedia component 603, an input / output (I / O) interface 604, and a communication component 605.

[0107] The processor 601 controls the overall operation of the electronic device 600 to complete all or part of the steps in the aforementioned industrial robot electromagnetically sensitive operation path planning method. The memory 602 stores various types of data to support the operation of the electronic device 600. This data may include, for example, instructions for any application or method operating on the electronic device 600, and application-related data such as contact data, sent and received messages, images, audio, video, etc. The memory 602 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 603 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 602 or transmitted via communication component 605. The audio component also includes at least one speaker for outputting audio signals. I / O interface 604 provides an interface between processor 601 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 605 is used for wired or wireless communication between the electronic device 600 and other devices. Wireless communication may include Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination thereof; therefore, the corresponding communication component 605 may include a Wi-Fi module, a Bluetooth module, or an NFC module.

[0108] In one exemplary embodiment, the electronic device 600 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the above-described industrial robot electromagnetically sensitive operation path planning method.

[0109] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the above-described industrial robot electromagnetically sensitive operation path planning method. For example, the computer-readable storage medium may be the memory 602 including the program instructions, which may be executed by the processor 601 of the electronic device 600 to complete the above-described industrial robot electromagnetically sensitive operation path planning method.

[0110] In another exemplary embodiment, a computer program product is also provided, which includes a computer program executable by a processor, which, when executed by the processor, implements the steps of the above-described industrial robot electromagnetically sensitive operation path planning method.

[0111] In another exemplary embodiment, a computer program product is also provided, which includes a computer program executable by a processor, which, when executed by the processor, implements the steps of the above-described industrial robot electromagnetically sensitive operation path planning method.

[0112] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0113] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0114] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for planning electromagnetically sensitive work paths for industrial robots, characterized in that, include: Obtain the original working path of the industrial robot, wherein the original working path includes multiple original path points; The electromagnetic susceptibility corresponding to the plurality of original path points is determined, and the electromagnetic susceptibility is used to characterize the influence of electromagnetic radiation on the industrial robot receiving control signals at the original path points. The target path point is determined from the plurality of original path points based on their respective electromagnetic susceptibility. A target job path is generated based on the target waypoint, the original job path, and a preset path generation algorithm; Determining the electromagnetic susceptibility corresponding to the plurality of original path points includes: A first electromagnetic susceptibility is determined for each of the plurality of original path points. The first electromagnetic susceptibility is used to characterize the effect of electromagnetic radiation on the industrial robot receiving control signals uniformly issued by the control device at the original path points. A second electromagnetic susceptibility is determined for each of the plurality of original path points. The second electromagnetic susceptibility is used to characterize the effect of electromagnetic radiation on the industrial robot receiving control signals sent by adjacent industrial robots at the original path points. Based on the first electromagnetic susceptibility and the second electromagnetic susceptibility, the electromagnetic susceptibility corresponding to the plurality of original path points is determined.

2. The industrial robot electromagnetically sensitive operation path planning method according to claim 1, characterized in that, Determining the first electromagnetic susceptibility corresponding to each of the plurality of original path points includes: Control an industrial robot to perform tasks according to the original work path; During the operation of an industrial robot following the original work path, a control device continuously sends control signals for testing to the industrial robot and generates a control signal sending record, which includes the time of each control signal sending. When an industrial robot completes a task according to the original task path, the communication log and task data of the industrial robot are obtained, and the task data includes the task time corresponding to each of the multiple original path points. Based on the communication log of the industrial robot, the operation data of the industrial robot, and the control signal transmission record, the first electromagnetic susceptibility corresponding to the multiple original path points is determined.

3. The industrial robot electromagnetically sensitive operation path planning method according to claim 2, characterized in that, The step of determining the first electromagnetic susceptibility corresponding to each of the multiple original path points based on the communication log of the industrial robot, the operation data of the industrial robot, and the control signal transmission record includes: From the communication log of the industrial robot, determine the control signal reception time and control signal response time that match the operation time corresponding to the multiple original path points respectively; From the control signal issuance record, determine the control signal issuance time that matches the operation time corresponding to each of the multiple original path points; Based on the control signal reception time, control signal issuance time and control signal response time that match the operation time corresponding to the plurality of original path points, the first signal processing delay corresponding to the plurality of original path points is determined; Based on the first signal processing delay corresponding to each of the multiple original path points, the first electromagnetic susceptibility corresponding to each of the multiple original path points is determined.

4. The industrial robot electromagnetically sensitive operation path planning method according to claim 1, characterized in that, Determining the second electromagnetic susceptibility corresponding to each of the plurality of original path points includes: Control multiple industrial robots to move to the multiple original path points, wherein one industrial robot moves to one or more original path points; Once each industrial robot has moved to its corresponding original path point, control each industrial robot sends a control signal for testing to its adjacent industrial robots. Obtain the communication logs corresponding to the multiple industrial robots respectively; Based on the communication logs and original path points corresponding to the multiple industrial robots, the second electromagnetic susceptibility corresponding to the multiple original path points is determined, wherein the original path point corresponding to each industrial robot is the original path point to which each industrial robot moved.

5. The industrial robot electromagnetically sensitive operation path planning method according to claim 4, characterized in that, The step of determining the second electromagnetic susceptibility corresponding to each of the multiple original path points based on the communication logs and original path points corresponding to the multiple industrial robots includes: From the communication logs of each industrial robot, determine the control signal reception time, control signal transmission time, and control signal response time that match the original path points of each industrial robot. Based on the control signal reception time, control signal transmission time and control signal response time that match the original path points corresponding to each industrial robot, the second signal processing delay corresponding to each of the multiple original path points is determined. The second electromagnetic susceptibility corresponding to each of the multiple original path points is determined based on the second signal processing delay corresponding to each of the multiple original path points.

6. The industrial robot electromagnetically sensitive operation path planning method according to claim 1, characterized in that, The step of generating the target job path based on the target waypoint, the original job path, and a preset path generation algorithm includes: Determine the path characteristics corresponding to the original job path; Based on the target path points and the preset path generation algorithm, an initial job path is generated; Determine the path characteristics corresponding to the initial job path; The optimal task path is obtained by iteratively optimizing the path features corresponding to the initial task path and the original task path until the termination condition is met. The target task path is determined based on the optimal task path.

7. The industrial robot electromagnetically sensitive operation path planning method according to claim 6, characterized in that, The step of iteratively optimizing the path based on the path features corresponding to the initial task path, the path features corresponding to the original task path, and the target path point until the termination condition is met to obtain the optimal task path includes: The evaluation function value is determined based on the path characteristics corresponding to the initial operation path and the path characteristics corresponding to the original operation path; A new job path is generated based on the evaluation function value, the target path point, and the preset path generation algorithm; Determine the path characteristics corresponding to the new job path; Based on the path features corresponding to the new job path, the path features corresponding to the original job path, and the path features corresponding to the initial job path, the iterative optimization continues until the termination condition is met, thus obtaining the optimal job path.

8. The industrial robot electromagnetically sensitive operation path planning method according to claim 1, characterized in that, The electromagnetically sensitive operation path planning method for industrial robots also includes: Control one or more of the industrial robots to perform operations according to the target work path; During the operation of one or more industrial robots according to the target operation path, in response to the detection of a new electromagnetic radiation source, the real-time position of one or more industrial robots is obtained. Based on the real-time positions of one or more of the industrial robots, a local operation path is determined from the target operation path; The local task path is optimized to obtain the optimized task path; The optimized work path is used to control one or more industrial robots, and the control signal distribution strategy corresponding to the local work path in the control device is adjusted.

9. The industrial robot electromagnetically sensitive operation path planning method according to claim 1, characterized in that, The electromagnetically sensitive operation path planning method for industrial robots also includes: Control one or more of the industrial robots to perform operations according to the target work path; In response to one or more of the industrial robots completing a task, the communication logs corresponding to one or more of the industrial robots are obtained, and the communication logs include: control signal reception time and control signal response time; Based on the communication logs of one or more of the industrial robots, determine the actual signal processing delay of one or more of the industrial robots; The communication protocol between the control device and one or more of the industrial robots is optimized based on at least the actual signal processing delay corresponding to one or more of the industrial robots.

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